version: 66.08
glider: 166
mission: 3
dive: 190
start: 10 7 110 22 7 2
data:
$ID,166
$MISSION,3
$DIVE,190
$N_DIVES,195
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51913
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21730.273
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3072
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,9
$FG_AHR_24V,22
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.567585
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043148831
$SEABIRD_T_H,0.00063078973
$SEABIRD_T_I,2.2916694e-05
$SEABIRD_T_J,2.2962076e-06
$SEABIRD_C_G,-9.9893045
$SEABIRD_C_H,1.1222894
$SEABIRD_C_I,-0.0015891744
$SEABIRD_C_J,0.00020161238
$GPS1,071010,220037,2358.655,12629.720,39,0.9,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.4
$GPS2,071010,220632,2358.713,12629.689,10,1.2,10,-3.6
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,23.1,2440,-22.5,-13.889
$D_GRID,5000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-164.1,0.0,0.0,0,97,0.00,0.00,-78.88,0.000,2,0.000,0.000,145,1769,3351,0,0,0,0,0,0
$GC,100,-1.25,-183.7,6.1,-12.8,11,125,8.62,2.15,-8.62,0.000,4,0.221,0.054,2420,3195,3824,0,0,0,0,0,0
$GC,207,-0.93,-183.7,60.7,-48.5,29,216,0.38,2.10,0.00,0.000,6,0.187,0.032,2529,1792,3825,0,0,0,0,0,0
$GC,532,-0.79,-183.7,165.2,-31.6,90,540,0.20,2.12,0.00,0.000,4,0.177,0.043,2585,402,3829,0,0,0,0,0,0
$GC,592,-0.75,-183.7,181.3,-22.8,100,600,0.00,2.10,0.00,0.000,6,0.000,0.040,2584,1776,3830,0,0,0,0,0,0
$GC,926,-0.73,-183.7,248.5,-19.4,161,933,0.00,2.15,0.00,0.000,4,0.000,0.050,2574,3211,3831,0,0,0,0,0,0
$GC,998,-0.76,-183.7,260.8,-15.8,173,1005,0.00,2.08,0.00,0.000,6,0.000,0.036,2574,1799,3831,0,0,0,0,0,0
$GC,1330,-0.75,-183.7,319.3,-17.3,224,1333,0.00,2.12,0.00,0.000,4,0.000,0.045,2574,387,3830,0,0,0,0,0,0
$GC,1359,-0.75,-183.7,324.8,-18.4,226,1367,0.00,2.15,0.00,0.000,6,0.000,0.040,2570,1796,3829,0,0,0,0,0,0
$GC,1686,-0.75,-183.7,381.4,-17.5,257,1690,0.00,2.15,0.00,0.000,4,0.000,0.051,2560,3210,3829,0,0,0,0,0,0
$GC,1836,-0.80,-183.7,404.0,-14.4,270,1844,0.00,2.15,0.00,0.000,6,0.000,0.036,2560,1790,3828,0,0,0,0,0,0
$GC,2162,-0.80,-183.7,457.7,-15.8,301,2166,0.00,2.10,0.00,0.000,4,0.000,0.047,2560,394,3827,0,0,0,0,0,0
$GC,2212,-0.82,-183.7,466.4,-18.0,305,2220,0.00,2.12,0.00,0.000,6,0.000,0.041,2558,1802,3827,0,0,0,0,0,0
$STATE,2429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2429,begin apogee
$GC,2435,-0.23,0.0,501.5,16.3,326,2590,0.60,0.00,144.60,0.981,6,0.133,0.000,2757,1738,3072,0,0,0,0,0,0
$STATE,2591,end apogee,CONTROL_FINISHED_OK
$STATE,2591,begin climb
$GC,2593,1.25,183.7,507.7,0.0,339,2749,1.33,2.25,147.07,0.955,4,0.070,0.049,3245,356,2321,0,0,0,0,0,0
$GC,2840,0.94,183.7,459.5,31.2,360,2845,0.35,2.15,0.00,0.000,6,0.202,0.037,3147,1749,2317,0,0,0,0,0,0
$GC,3167,0.74,183.7,385.1,21.4,390,3172,0.22,2.17,0.00,0.000,4,0.187,0.043,3097,344,2313,0,0,0,0,0,0
$GC,3243,0.62,183.7,369.7,17.8,396,3252,0.15,2.17,0.00,0.000,6,0.163,0.037,3048,1756,2313,0,0,0,0,0,0
$GC,3570,0.58,186.8,324.0,13.7,427,3574,0.00,2.10,0.00,0.000,4,0.000,0.045,3037,3164,2310,0,0,0,0,0,0
$GC,3668,0.55,193.1,310.6,13.5,435,3681,0.00,2.10,6.90,0.715,6,0.000,0.036,3045,1745,2284,0,0,0,0,0,0
$GC,4005,0.52,197.0,261.8,13.7,490,4014,0.12,0.00,4.65,0.586,6,0.181,0.000,3013,1745,2267,0,0,0,0,0,0
$GC,4339,0.65,280.2,224.8,9.2,551,4414,0.10,2.28,68.97,0.809,4,0.106,0.045,3074,343,1927,0,0,0,0,0,0
$GC,4501,0.63,280.2,199.6,17.2,577,4508,0.00,2.17,0.00,0.000,6,0.000,0.033,3067,1760,1922,0,0,0,0,0,0
$GC,4835,0.63,280.2,147.9,15.9,638,4843,0.00,2.15,0.00,0.000,4,0.000,0.044,3066,3160,1920,0,0,0,0,0,0
$GC,4878,0.63,280.2,140.8,16.0,645,4886,0.00,2.15,0.00,0.000,6,0.000,0.036,3074,1750,1920,0,0,0,0,0,0
$GC,5203,0.65,296.0,93.5,13.0,706,5225,0.00,2.17,12.80,0.665,4,0.000,0.045,3084,355,1865,0,0,0,0,0,0
$GC,5256,0.70,335.5,87.2,11.6,714,5300,0.00,2.12,34.12,0.687,6,0.000,0.031,3081,1763,1703,0,0,0,0,0,0
$GC,5624,0.85,400.3,48.6,10.2,780,5684,0.00,2.15,52.85,0.656,4,0.000,0.041,3080,3155,1440,0,0,0,0,0,0
$GC,5714,1.00,436.8,37.9,11.8,793,5753,0.15,2.17,31.48,0.627,6,0.038,0.035,3177,1744,1290,0,0,0,0,0,0
$STATE,5871,end climb,SURFACE_DEPTH_REACHED
$STATE,5871,begin surface coast
$FINISH,0.7,1.002956
$STATE,5883,end surface coast,CONTROL_FINISHED_OK
$STATE,5884,begin surface
$SM_CCo,5961,0.00,0.000,0,0,1286,437.86
$SM_GC,1.50,7.78,0.00,0.00,0.031,0.000,0.000,138,1810,1286,-8.34,0.28,437.86
$IRIDIUM_FIX,2349.77,12631.45,071010,202025
$TT8_MAMPS,0.026215
$HUMID,41.29
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,25.00
$XPDR_PINGS,77
$24V_AH,24.3,34.516
$10V_AH,10.4,22.481
$FG_AHR_24Vo,22.000
$FG_AHR_10Vo,9.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.000,55.975,503.450,0.000,0.000,29.414,46.303,135.547,19.250,0.000,13.095,1926.176,1464.089,491.509,2190.108,249.301,0.000,1291.594,0.000,1983.389,0.000,0.847,0.000
$DEVICE_MAMPS,221.085,112.455,980.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.241,840.162,1382.195,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,46954,822
$CAP_FILE_SIZE,84138,0
$CFSIZE,260165632,169308160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.002, 31.8,1
$GPS,071010,234728,2359.598,12630.251,9,99.0,28,-3.6